ME 303 Kinematics and Dynamics of Machines

Santhakumar Mohan
Mechanical Engineering
Indian Institute of Technology
gy
Indore
L t
Lecture 14: Dynamic Force Analysis
14 D i F A l i
 Introduction
 Newton’s Law of Motion and D’Alembert’s
N t ’ L f M ti d D’Al b t’ Principle
Pi i l
 Single Link in Pure Rotation
 Dynamic Force Analyses of Planar Linkages
 Four
Four‐bar
bar mechanism
mechanism
 Slider crank mechanism

Santhakumar Mohan, IIT Indore
ME 303 Kinematics and Dynamics of  2
Machines
 Sol tion using
Solution sing Ne
Newton’s
ton’s La
Law
• Newton
Newton’s Law:
s aw:
  
 M G  IG

 F  maG
• For planar motion
For planar motion we have:
we have:

F x  max Fy  ma y M G  I g
 Single
g Link in Pure Rotation
• From free body diagram:
F=m2a=FP+F12 
T=IgT12
(R12F12)+(R
+(R ) (RPFP)
• Breaking down into 
components:
Fx=m2ax=FPx+F12x
Fy=mm2ay=FFPy+FF12y
T=Ig
R
 12xF12y‐R12yF12x)
+RPxFPy‐RPyFPx) 
 Single
g Link in Pure Rotation
Fx=m
m2ax=FFPx
P +F12x
12
Fy=m2ay=FPyy+F12yy
T=IgR12xF12y‐R12yF12x)
+RPxFPy‐RPyFPx) 
• Putting into a matrix format
Putting into a matrix format
 1 0 0  F12 x   m2 aGx  FPx 
    
 0 1 0  F12 y    m2 aG y  FPy 
 R
 12 y
R12 x
 

1  T12   I G  RPx FPy  RPy FPx 


 Force Analysis
y of a Fourbar Linkage
g
• Free Body Diagrams
y g
Link 2 Links 2 and 3
F12 x  F32 x  m2 aG2 x
F12 y  F32 y  m2 aG2 y

T12  R12 x F12 y  R12 y F12 x 
 
 R32 x F32 y  R32 y F32 x  I G2 2

Link 3 (F23=‐F32)
F43x  F32 x  FPx  m3aG3 x
F43 y  F32 y  FPy  m3aG3 y
R F  R F 
43x 43 y 43 y 43x

 R F  R F 
23x 32 y 23 y 32 x

 R F  R F   I 
Px Py Py Px G3 3
 Link 4
F14 x• FF3443=‐F
x
43m4 aG4 x
F14 y  F43 y  m4 aG4 y

T4  R14 x F14 y  R14 y F14 x 
 
 R43x F43 y  R43 y F43x  I G4 4
 In One Matrix
Matri Equation
Eq ation
• We have 9 equations and 9 unknowns
 1 0 1 0 0 0 0 0 0  F12   m2 aG2 x 
 0 1 0 1 0 0 0 0 0  F12  
x

 m a
 y  2 G2y 
 R12 y R12 x  R32 y R32 x 0 0 0 0 1  F32   I G2 2 
   
0  F32  
x

 0 0 1 0 1 0 0 0 m a  F 
 y 3 G3 x Px
 0 0 0 1 0 1 0 0 0  F43    m3aG3 y  FPy 
  x
  
 0 0 R23 y  R23x  R43 y R43x 0 0 0  F43   I G3 3  RPx FPy  RPy FPx 
 0 
y
0 0 0 1 0 1 0 0  F14   m4 aG4 x 
  x   
 0 0 0 0 0 1 0 1 0  F14   m4 aG4 y 
 0 0 0 0 R34 y  R43x  R14 y R14 x 0  T12  
y
I   T 
  G4 4 4 
 Crank Slider
Free Body Diagrams:
 Crank Slider
• For Link 4:
For Link 4:
F14 x  F43x  FPx  m4 aG4 x
F14 y  F43 y  FPy  0
F14 x   F14 y
• 8 equations, 
8 equations
• 8 unknowns
8 unknowns
 In One Matrix
Matri Equation
Eq ation
• We have 8 equations and 8 unknowns
W h 8 ti d8 k
 1 0 1 0 0 0 0 0  F12 x   m2 aG2 x 
 0     m a 
 1 0 1 0 0 0 0  F12 y   2 G2 y 
 R12 y R12 x  R32 y R32 x 0 0 0 1  F32 x   I G2 2 
    ma 
 0 0 1 0 1 0 0 0  F32 y   3 G3 x 

 0 0 0 1 0 1 0 0  F43x  m3aG3 y 
    
 0 0 R23 y  R23x  R43 y R43x 0 0  F43 y   I G3 3 
 0 0 0 0 1 0   0  F14 y  m4 aG4 x  FPx 
  
 0 0 0 0 0 1 1 0  T12    FPy 
 Sh ki F
Shaking Forces and
d Sh
Shaking
ki T Torque

• Shaking Force: sum of forces acting on

th ground
the d fframe
FS=F
F21+F41
• Shaking Torque (Ts): reaction torque felt by
the ground.
Ts=T21=-T
= T12
T21